Bring a pot of salted water to a boil, add half of the asparagus, boil without a cover for about 2 minutes or until desired tenderness. Remove and place in a bowl of ice and water. Repeat with remaining asparagus. Drain, pat dry asparagus and reserve.

To make dressing, whisk together the vinegar, mustard, and shallots in a bowl. Gradually whisk in the olive oil. Add the tarragon and season to taste with salt, black pepper and sugar.

To serve, combine the asparagus, citrus segments, and arugula in a bowl. Toss with the dressing, coating evenly. Divide onto serving plates and enjoy!